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박대길 ( Park Daegil ) 전북대학교 인문학연구소 2017 건지인문학 Vol.0 No.18
It is said that Jeon Bong-Jun(全琫準), Kim Gae-Nam(金開南), Son Hwa-Jung(孫華仲), Kim Deok-Myeong(金德明) and Choi Gyeong-Seon(崔景善) who were major figures of The Dong-hak Peasant`s revolution are `Five Leaders.` Four people, excluding Kim Gae-nam, were tried by the judical procedures, at least formally, left records of interrogation or judgment, and hanged in Seoul. They had the opportunity to proudly revealed the purpose and meaning of the revolution of Donghak Peasants which they took the lead. However, Kim Gae-nam did not even have the chance to express his will, as well as the judical procedures. Jeonragamsa(全羅監司) summarily executed Kim Gae-nam for the reason of `Escape and Rescue` and clearly wrote down the place of execution as “In the 20th of the 24 periods of the day, on the third of this month(December), gathered soldiers and people in Segyojang(西敎場), decapitate and expose his head, put it in a chest and sent it to Dosunmuyeong(都巡撫營) …” Thus, it shows the justification for Kim Gae-nam`s summary execution, the place and time of it, disposal of his body, and so on. However, contrary to `Escape and Rescue`, it is highly possible that the connection with DaewonGun(大院君) could be a decisive reason. Kim Gae-nam caused a second uprising to drive out the Japanese army and seize power. But there was communion with DaewonGun in his decision for uprising, which was an open secret at that time. Prejudication, that Kim Gae-nam who tried to reveal this publicly could cause another trouble if left untouched, made him be executed in haste. It was a very simple place to identify right away where Kim Gae-nam died for the country. Nevertheless, the background of the rise of Chorokbawwi(초록바위) view(theory) which has never been suggested any evidence was because of the name of the place that are not confirmed. In other words, this was a consequence of overlooking `Dongsoyimyeong(同所異名)`, which means the same place can be called differently such as Seokyojang(西敎場), Jangdae(將臺), under the Kongbukru(拱北 樓), and Supjeongi(숲정이). Therefore, the place of Kim Gae-nam`s death for the country is Supjeongi that is now called a representative Catholic Martyrs` Site, after Seokyojang was closed and neglected, as well as Seokyojang, Jangdae, under the Kongbukru in the record of 1894.
박대길(Daegil Park),곽경민(Kyungmin Kwak),정재훈(Jaehoon Jung),김진현(Jinhyun Kim),정완균(Wan Kyun Chung) 한국해양공학회 2017 韓國海洋工學會誌 Vol.31 No.2
In this paper, we propose an underwater localization scheme through the fusion of an inertial navigation system (INS) and the received signal strength (RSS) of electromagnetic (EM) wave sensors to guarantee precise localization performance with high sampling rates. In this localization scheme, the INS predicts the pose of the unmanned underwater vehicle (UUV) by dead reckoning at every step, and the RF sensors corrects the UUV position functions using the Earth-fixed reference when the UUV is located in underwater wireless sensor networks (UWSN). The localization scheme and state modeling were conducted in the extended Kalman filter framework, and UUV localization experiments were conducted in a basin environment. The scheme achieved reliable localization accuracy during long-term navigation, demonstrating the feasibility of exploiting EM wave attenuation as Earth-fixed reference sensors.
구조화된 공간에서의 수중 무선 센서 네트워크를 이용한 위치 추정 시스템
박대길(Daegil Park),곽경민(Kyungmin Kwak),정완균(Wan Kyun Chung),김진현(Jinhyun Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.8
In this paper, an infrastructure-based localization method using underwater wireless sensor network (UWSN) is addressed. A localization using the UWSN is necessary to widen the usage of underwater applications, however it is very difficult to establish the UWSN due to the restrictions of water. In this paper, to extend the usage of UWSN at the infrastructure, we propose a sophisticated UWSN localization method using the Received Signal Strength Indicator (RSSI) of the electromagnetic waves. During the electromagnetic waves propagating in underwater, there arises a lot of attenuation according to the distance, while the attenuation shows uniformity according to the distance. Using this characteristics, the localization system in underwater infrastructure is proposed and the experimental results show the effectiveness.
반전력빔폭을 이용한 전방향성 안테나의 수중 환경 수직 평면 감쇠 모델
곽경민(Kyungmin Kwak),박대길(Daegil Park),김영현(Younghyeon Kim),정완균(Wan Kyun Chung),김진현(Jinhyun Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.11
In this paper, we use the characteristics of electromagnetic waves underwater attenuation for estimating linear distance between a transmitting node and receiving node, and research underwater vertical plane attenuation model for constructing the underwater localization system. The underwater localization of 2 dimensional with the plane attenuation model in the horizontal plane (H-plane) was proposed previous research. But for the 3 dimensional underwater localization, the additional vertical plane (Eplane) model should be considered. Because the horizontal plane of omnidirectional antenna has the same attenuation tendency in x-y plane according to the distance, whereas in vertical plane shows an irregular pattern in x-z plane. For that reason, in the vertical plane environment, the attenuation should be changed by the position and inclination. Hence, in this paper the distance and angle between transmitting and receiving node are defined using spherical coordinate system and derive an antenna gain pattern using half power beam width (HPBW). The HPBW is called a term which defines antenna’s performance between isotropic and other antennas. This paper derives omnidirectional antenna’s maximum gain and attenuation pattern model and define vertical plane’s gain pattern model using HPBW. Finally, experimental verifications for the proposed underwater vertical plane’s attenuation model was executed.
UUV의 수중 도킹을 위한 전자기파 신호 기반의 위치인식 센서 개발
곽경민 ( Kyungmin Kwak ),박대길 ( Daegil Park ),정완균 ( Wan Kyun Chung ),김진현 ( Jinhyun Kim ) 한국센서학회 2017 센서학회지 Vol.26 No.3
In this paper, we developed an underwater localization system for underwater robot docking using the electromagnetic wave attenuation model. Electromagnetic waves are generally known to be impossible to use in water environment. However, according to the conclusions of the previous studies on the attenuation characteristics in underwater, the attenuation pattern is uniform and its model was accurately proposed and verified in 3-dimensional space via the omnidirectional antenna. In this paper, a docking structure and localization sensor system are developed for a widely used cone type docking mechanism. First, we fabricated electromagnetic wave range sensor transmit modules. And a mobile sensor node is equipped with unmanned underwater vehicle(UUV)s. The mobile node senses the four different signal strength (RSS: Received Signal Strength) from fixed nodes, and the obtained RSS data are transformed to each distance information using the 3-Dimensional EM wave attenuation model. Then, the relative localization between the docking area and underwater robot can be achieved according to optimization algorithm. Finally, experimental results show the feasibility of the proposed localization system for the docking induction by comparing the errors in the actual position of the mobile node and the theoretical position through the model.